本論文旨在於發展一台智慧型割草機器人。割草機器人的控制核心為Microchip PIC 4520控制晶片，負責機器人車輪行走控制、刀片馬達控制、碰撞感測器控制，以及超音波感測器的訊號處理等。
割草機器人主要是用於割除草坪的工作，是為了能夠節省大量的人力資源與時間消耗，而且必須考慮割草機器人在草地上的驅動行走能力。割草機器人的設計包含了避開草坪上的各種障礙物，也要實現最大的割草覆蓋範圍，更使用了超音波感測器作為定位通訊的功能。此外，並以螺旋式的牛耕田作為割草機器人全域覆蓋的路徑規劃設計。

The goal of this thesis is to develop an autonomous lawn-mower robot. The core device of the robot is a Microchip PIC 4520 chip for controlling the robot moving, blade motor, collision sensors, and ultrasonic sensors’ signal processing.
Mowing robot is used to save a lot of manpower and time consuming for mowing a lawn. The driving capability of robot walking on the grass is considered. The usage of ultrasonic sensors’ positioning communication for avoiding various obstacles in the lawn and achieving maximum coverage of mowing is also included in the design of the mowing robot. Furthermore, the spiral boustrophedon used as the global coverage path planning is also implanted in the design of the mowing robot.

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